Commit | Line | Data |
---|---|---|
809609c9 | 1 | package org.usfirst.frc.team3501.robot.commands.shooter; |
2 | ||
210ebccb | 3 | import org.usfirst.frc.team3501.robot.Robot; |
ad7e6b1e | 4 | import org.usfirst.frc.team3501.robot.subsystems.Shooter; |
210ebccb | 5 | |
809609c9 | 6 | import edu.wpi.first.wpilibj.command.Command; |
7 | ||
8 | /** | |
d4507ede | 9 | * This command runs index wheel continuously when OI button managing index |
10 | * wheel is pressed. The command will run the index wheel motor until the button | |
89a76b33 | 11 | * triggering it is released. |
357feb5c | 12 | * |
d4507ede | 13 | * Should only be run from the operator interface. |
14 | * | |
973f0ac4 | 15 | * pre-condition: This command must be run by a button in OI with |
16 | * button.whileHeld(...). | |
17 | * | |
27d2386f | 18 | * @author Shaina |
809609c9 | 19 | */ |
20 | public class RunIndexWheelContinuous extends Command { | |
ad7e6b1e | 21 | private Shooter shooter = Robot.getShooter(); |
4f2fa45c | 22 | |
b7ef589a | 23 | /** |
24 | * See JavaDoc comment in class for details | |
b7ef589a | 25 | */ |
ad7e6b1e | 26 | public RunIndexWheelContinuous() { |
00f515a1 | 27 | requires(shooter); |
4f2fa45c | 28 | } |
29 | ||
4f2fa45c | 30 | @Override |
31 | protected void initialize() { | |
32 | } | |
33 | ||
4f2fa45c | 34 | @Override |
35 | protected void execute() { | |
d7042bec | 36 | double shooterSpeed = shooter.getShooterRPM(); |
7ba6bc91 CZ |
37 | double targetShooterSpeed = shooter.getTargetShootingSpeed(); |
38 | double threshold = shooter.getRPMThreshold(); | |
b70398a7 CZ |
39 | if (Math.abs(shooterSpeed - targetShooterSpeed) <= threshold) |
40 | shooter.runIndexWheel(); | |
4f2fa45c | 41 | } |
42 | ||
4f2fa45c | 43 | @Override |
44 | protected void end() { | |
135022bc | 45 | shooter.stopIndexWheel(); |
4f2fa45c | 46 | } |
47 | ||
4f2fa45c | 48 | @Override |
49 | protected void interrupted() { | |
210ebccb | 50 | end(); |
4f2fa45c | 51 | } |
52 | ||
53 | @Override | |
54 | protected boolean isFinished() { | |
2a9dabb1 | 55 | return false; |
4f2fa45c | 56 | } |
809609c9 | 57 | |
58 | } |